<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::tracking::ParticleFilterTracker&lt; PointInT, StateT &gt; 模板类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1tracking_1_1_particle_filter_tracker.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1tracking_1_1_particle_filter_tracker-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::tracking::ParticleFilterTracker&lt; PointInT, StateT &gt; 模板类 参考</div>  </div>
</div><!--header-->
<div class="contents">

<p><b><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html" title="ParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured P...">ParticleFilterTracker</a></b> tracks the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> which is given by setReferenceCloud within the measured <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> using particle filter method.  
 <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="tracking_2include_2pcl_2tracking_2particle__filter_8h_source.html">particle_filter.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::tracking::ParticleFilterTracker&lt; PointInT, StateT &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1tracking_1_1_particle_filter_tracker.png" usemap="#pcl::tracking::ParticleFilterTracker_3C_20PointInT_2C_20StateT_20_3E_map" alt=""/>
  <map id="pcl::tracking::ParticleFilterTracker_3C_20PointInT_2C_20StateT_20_3E_map" name="pcl::tracking::ParticleFilterTracker_3C_20PointInT_2C_20StateT_20_3E_map">
<area href="classpcl_1_1tracking_1_1_tracker.html" title="Tracker represents the base tracker class." alt="pcl::tracking::Tracker&lt; PointInT, StateT &gt;" shape="rect" coords="214,56,632,80"/>
<area href="classpcl_1_1_p_c_l_base.html" alt="pcl::PCLBase&lt; PointInT &gt;" shape="rect" coords="214,0,632,24"/>
<area href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_tracker.html" title="KLDAdaptiveParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the..." alt="pcl::tracking::KLDAdaptiveParticleFilterTracker&lt; PointInT, StateT &gt;" shape="rect" coords="0,168,418,192"/>
<area href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html" title="ParticleFilterOMPTracker tracks the PointCloud which is given by setReferenceCloud within the measure..." alt="pcl::tracking::ParticleFilterOMPTracker&lt; PointInT, StateT &gt;" shape="rect" coords="428,168,846,192"/>
<area href="classpcl_1_1tracking_1_1_k_l_d_adaptive_particle_filter_o_m_p_tracker.html" title="KLDAdaptiveParticleFilterOMPTracker tracks the PointCloud which is given by setReferenceCloud within ..." alt="pcl::tracking::KLDAdaptiveParticleFilterOMPTracker&lt; PointInT, StateT &gt;" shape="rect" coords="0,224,418,248"/>
  </map>
</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a5f62849a46c6feec9fb7a5c8584ad841"><td class="memItemLeft" align="right" valign="top"><a id="a5f62849a46c6feec9fb7a5c8584ad841"></a>
typedef <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
<tr class="separator:a5f62849a46c6feec9fb7a5c8584ad841"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a788d20b96eb30de4bfda4c2e89b29ba9"><td class="memItemLeft" align="right" valign="top"><a id="a788d20b96eb30de4bfda4c2e89b29ba9"></a>
typedef <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
<tr class="separator:a788d20b96eb30de4bfda4c2e89b29ba9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3b580e555da125b2f6c071e33ec2e060"><td class="memItemLeft" align="right" valign="top"><a id="a3b580e555da125b2f6c071e33ec2e060"></a>
typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
<tr class="separator:a3b580e555da125b2f6c071e33ec2e060"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4405c3255860933541f3b89d4236022a"><td class="memItemLeft" align="right" valign="top"><a id="a4405c3255860933541f3b89d4236022a"></a>
typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
<tr class="separator:a4405c3255860933541f3b89d4236022a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af212401b6f82346fb5c5c9842397057d"><td class="memItemLeft" align="right" valign="top"><a id="af212401b6f82346fb5c5c9842397057d"></a>
typedef <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudState</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudState</b></td></tr>
<tr class="separator:af212401b6f82346fb5c5c9842397057d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a67d61d880edf17ff914bb9270d5bbf6a"><td class="memItemLeft" align="right" valign="top"><a id="a67d61d880edf17ff914bb9270d5bbf6a"></a>
typedef PointCloudState::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudStatePtr</b></td></tr>
<tr class="separator:a67d61d880edf17ff914bb9270d5bbf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad7e85166cf3f975d00f5ce2da22fd6a5"><td class="memItemLeft" align="right" valign="top"><a id="ad7e85166cf3f975d00f5ce2da22fd6a5"></a>
typedef PointCloudState::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudStateConstPtr</b></td></tr>
<tr class="separator:ad7e85166cf3f975d00f5ce2da22fd6a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56c26c570e3002526c4ed384d65411ac"><td class="memItemLeft" align="right" valign="top"><a id="a56c26c570e3002526c4ed384d65411ac"></a>
typedef <a class="el" href="classpcl_1_1tracking_1_1_point_coherence.html">PointCoherence</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Coherence</b></td></tr>
<tr class="separator:a56c26c570e3002526c4ed384d65411ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad61eaf564e21754d50996ae0a14d0327"><td class="memItemLeft" align="right" valign="top"><a id="ad61eaf564e21754d50996ae0a14d0327"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1tracking_1_1_point_coherence.html">Coherence</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CoherencePtr</b></td></tr>
<tr class="separator:ad61eaf564e21754d50996ae0a14d0327"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a36320f952d450d33c046a131b7eafa4c"><td class="memItemLeft" align="right" valign="top"><a id="a36320f952d450d33c046a131b7eafa4c"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1tracking_1_1_point_coherence.html">Coherence</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CoherenceConstPtr</b></td></tr>
<tr class="separator:a36320f952d450d33c046a131b7eafa4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac0cc224eedb2162c144171b28280c8a"><td class="memItemLeft" align="right" valign="top"><a id="aac0cc224eedb2162c144171b28280c8a"></a>
typedef <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">PointCloudCoherence</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudCoherence</b></td></tr>
<tr class="separator:aac0cc224eedb2162c144171b28280c8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4c0a3953d215eca675a11ea0bdeb9e3e"><td class="memItemLeft" align="right" valign="top"><a id="a4c0a3953d215eca675a11ea0bdeb9e3e"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">CloudCoherence</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudCoherencePtr</b></td></tr>
<tr class="separator:a4c0a3953d215eca675a11ea0bdeb9e3e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a912038edafa6fcdf04b7a67e433940ad"><td class="memItemLeft" align="right" valign="top"><a id="a912038edafa6fcdf04b7a67e433940ad"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html">CloudCoherence</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>CloudCoherenceConstPtr</b></td></tr>
<tr class="separator:a912038edafa6fcdf04b7a67e433940ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1tracking_1_1_tracker"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1tracking_1_1_tracker')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:a29b4419a8f6ceabe3a1fb0ef205ba9a5 inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a29b4419a8f6ceabe3a1fb0ef205ba9a5"></a>
typedef <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
<tr class="separator:a29b4419a8f6ceabe3a1fb0ef205ba9a5 inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0240eaaf0b30a2b416abfa209e1663b7 inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a0240eaaf0b30a2b416abfa209e1663b7"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a0240eaaf0b30a2b416abfa209e1663b7 inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad7cec0de180375d8b94afcec11d8c7c8 inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ad7cec0de180375d8b94afcec11d8c7c8"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">Tracker</a>&lt; PointInT, StateT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:ad7cec0de180375d8b94afcec11d8c7c8 inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a90c614246936c0dabccd5798bb5787b3 inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a90c614246936c0dabccd5798bb5787b3"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchPtr</b></td></tr>
<tr class="separator:a90c614246936c0dabccd5798bb5787b3 inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae72be70e6aba747feb86791a7dad90ef inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ae72be70e6aba747feb86791a7dad90ef"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchConstPtr</b></td></tr>
<tr class="separator:ae72be70e6aba747feb86791a7dad90ef inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aafe1c9e2ea5b1b44cca2d433bf5de02c inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="aafe1c9e2ea5b1b44cca2d433bf5de02c"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
<tr class="separator:aafe1c9e2ea5b1b44cca2d433bf5de02c inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac825f797ec3c304b3f3ec442aa1d8c1d inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ac825f797ec3c304b3f3ec442aa1d8c1d"></a>
typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
<tr class="separator:ac825f797ec3c304b3f3ec442aa1d8c1d inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8ab0ea3a2452dbfc81332e96f6ebdef inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ac8ab0ea3a2452dbfc81332e96f6ebdef"></a>
typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
<tr class="separator:ac8ab0ea3a2452dbfc81332e96f6ebdef inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad9657df1445c0f2afaef0be018df9d9a inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ad9657df1445c0f2afaef0be018df9d9a"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; StateT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudState</b></td></tr>
<tr class="separator:ad9657df1445c0f2afaef0be018df9d9a inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e62f3edfa5132eb130cd5ab99352a1a inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a2e62f3edfa5132eb130cd5ab99352a1a"></a>
typedef PointCloudState::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudStatePtr</b></td></tr>
<tr class="separator:a2e62f3edfa5132eb130cd5ab99352a1a inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4eda4373f693f0d7160ace78522a729c inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a4eda4373f693f0d7160ace78522a729c"></a>
typedef PointCloudState::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudStateConstPtr</b></td></tr>
<tr class="separator:a4eda4373f693f0d7160ace78522a729c inherit pub_types_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab84dd662cda89edb882fe5307b2136ea inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ab84dd662cda89edb882fe5307b2136ea"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:ab84dd662cda89edb882fe5307b2136ea inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8326513fad0680b6993e2f1a79a6af4 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ac8326513fad0680b6993e2f1a79a6af4"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:ac8326513fad0680b6993e2f1a79a6af4 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae51eae0c7b3e0b7178f4894dff90660a inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae51eae0c7b3e0b7178f4894dff90660a"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
<tr class="separator:ae51eae0c7b3e0b7178f4894dff90660a inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a51771056fb4ab8c448a11157acbe2ee0"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
<tr class="separator:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a8ce7078ef8b5535b60056a482d34f909"><td class="memItemLeft" align="right" valign="top"><a id="a8ce7078ef8b5535b60056a482d34f909"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8ce7078ef8b5535b60056a482d34f909">ParticleFilterTracker</a> ()</td></tr>
<tr class="memdesc:a8ce7078ef8b5535b60056a482d34f909"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a8ce7078ef8b5535b60056a482d34f909"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa4c0c88e6eca516339a7bb01a2e10855"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c0c88e6eca516339a7bb01a2e10855">setIterationNum</a> (const int iteration_num)</td></tr>
<tr class="memdesc:aa4c0c88e6eca516339a7bb01a2e10855"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of iteration.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c0c88e6eca516339a7bb01a2e10855">更多...</a><br /></td></tr>
<tr class="separator:aa4c0c88e6eca516339a7bb01a2e10855"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f1a4f9cc89869b43cd0d89d2dd173a8"><td class="memItemLeft" align="right" valign="top"><a id="a3f1a4f9cc89869b43cd0d89d2dd173a8"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a3f1a4f9cc89869b43cd0d89d2dd173a8">getIterationNum</a> () const</td></tr>
<tr class="memdesc:a3f1a4f9cc89869b43cd0d89d2dd173a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of iteration. <br /></td></tr>
<tr class="separator:a3f1a4f9cc89869b43cd0d89d2dd173a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5dfccd2f976ecc538f5b5d1f0cb5e03c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5dfccd2f976ecc538f5b5d1f0cb5e03c">setParticleNum</a> (const int particle_num)</td></tr>
<tr class="memdesc:a5dfccd2f976ecc538f5b5d1f0cb5e03c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of the particles.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5dfccd2f976ecc538f5b5d1f0cb5e03c">更多...</a><br /></td></tr>
<tr class="separator:a5dfccd2f976ecc538f5b5d1f0cb5e03c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a092e8a0db817997363b7d85010279a22"><td class="memItemLeft" align="right" valign="top"><a id="a092e8a0db817997363b7d85010279a22"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a092e8a0db817997363b7d85010279a22">getParticleNum</a> () const</td></tr>
<tr class="memdesc:a092e8a0db817997363b7d85010279a22"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of the particles. <br /></td></tr>
<tr class="separator:a092e8a0db817997363b7d85010279a22"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2de143b5626fb5f59084787ddc9da0c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2de143b5626fb5f59084787ddc9da0c">setReferenceCloud</a> (const PointCloudInConstPtr &amp;ref)</td></tr>
<tr class="memdesc:aa2de143b5626fb5f59084787ddc9da0c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set a pointer to a reference dataset to be tracked.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2de143b5626fb5f59084787ddc9da0c">更多...</a><br /></td></tr>
<tr class="separator:aa2de143b5626fb5f59084787ddc9da0c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a68872575f5beac2a716ca7d336fe9f51"><td class="memItemLeft" align="right" valign="top"><a id="a68872575f5beac2a716ca7d336fe9f51"></a>
PointCloudInConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a68872575f5beac2a716ca7d336fe9f51">getReferenceCloud</a> ()</td></tr>
<tr class="memdesc:a68872575f5beac2a716ca7d336fe9f51"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to a reference dataset to be tracked. <br /></td></tr>
<tr class="separator:a68872575f5beac2a716ca7d336fe9f51"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a782c4931b7472dbb7e4f9f5fe92a9833"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a782c4931b7472dbb7e4f9f5fe92a9833">setCloudCoherence</a> (const CloudCoherencePtr &amp;coherence)</td></tr>
<tr class="memdesc:a782c4931b7472dbb7e4f9f5fe92a9833"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html" title="PointCloudCoherence is a base class to compute coherence between the two PointClouds.">PointCloudCoherence</a> as likelihood.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a782c4931b7472dbb7e4f9f5fe92a9833">更多...</a><br /></td></tr>
<tr class="separator:a782c4931b7472dbb7e4f9f5fe92a9833"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58d8f4e3e3c8bf78a0286c00dbb40762"><td class="memItemLeft" align="right" valign="top"><a id="a58d8f4e3e3c8bf78a0286c00dbb40762"></a>
CloudCoherencePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58d8f4e3e3c8bf78a0286c00dbb40762">getCloudCoherence</a> () const</td></tr>
<tr class="memdesc:a58d8f4e3e3c8bf78a0286c00dbb40762"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html" title="PointCloudCoherence is a base class to compute coherence between the two PointClouds.">PointCloudCoherence</a> to compute likelihood. <br /></td></tr>
<tr class="separator:a58d8f4e3e3c8bf78a0286c00dbb40762"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4cae829ec11e98fecceca689ab604919"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4cae829ec11e98fecceca689ab604919">setStepNoiseCovariance</a> (const std::vector&lt; double &gt; &amp;step_noise_covariance)</td></tr>
<tr class="memdesc:a4cae829ec11e98fecceca689ab604919"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the covariance of step noise.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4cae829ec11e98fecceca689ab604919">更多...</a><br /></td></tr>
<tr class="separator:a4cae829ec11e98fecceca689ab604919"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4af95324a9cbc1d8124498c7c5ba045"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4af95324a9cbc1d8124498c7c5ba045">setInitialNoiseCovariance</a> (const std::vector&lt; double &gt; &amp;initial_noise_covariance)</td></tr>
<tr class="memdesc:af4af95324a9cbc1d8124498c7c5ba045"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the covariance of the initial noise. It will be used when initializing the particles.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4af95324a9cbc1d8124498c7c5ba045">更多...</a><br /></td></tr>
<tr class="separator:af4af95324a9cbc1d8124498c7c5ba045"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad924b9f7dd0b261ed03c7770cbd9a3cd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad924b9f7dd0b261ed03c7770cbd9a3cd">setInitialNoiseMean</a> (const std::vector&lt; double &gt; &amp;initial_noise_mean)</td></tr>
<tr class="memdesc:ad924b9f7dd0b261ed03c7770cbd9a3cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the mean of the initial noise. It will be used when initializing the particles.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad924b9f7dd0b261ed03c7770cbd9a3cd">更多...</a><br /></td></tr>
<tr class="separator:ad924b9f7dd0b261ed03c7770cbd9a3cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0467f76d2da15f76e31a410cfbfc5e91"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a0467f76d2da15f76e31a410cfbfc5e91">setResampleLikelihoodThr</a> (const double resample_likelihood_thr)</td></tr>
<tr class="memdesc:a0467f76d2da15f76e31a410cfbfc5e91"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the threshold to re-initialize the particles.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a0467f76d2da15f76e31a410cfbfc5e91">更多...</a><br /></td></tr>
<tr class="separator:a0467f76d2da15f76e31a410cfbfc5e91"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa36dfffd21323208f53951e5f2404684"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa36dfffd21323208f53951e5f2404684">setOcclusionAngleThe</a> (const double occlusion_angle_thr)</td></tr>
<tr class="memdesc:aa36dfffd21323208f53951e5f2404684"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the threshold of angle to be considered occlusion (default: pi/2). <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html" title="ParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured P...">ParticleFilterTracker</a> does not take the occluded points into account according to the angle between the normal and the position.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa36dfffd21323208f53951e5f2404684">更多...</a><br /></td></tr>
<tr class="separator:aa36dfffd21323208f53951e5f2404684"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58ba4599231097e4373589873d62e01e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58ba4599231097e4373589873d62e01e">setMinIndices</a> (const int min_indices)</td></tr>
<tr class="memdesc:a58ba4599231097e4373589873d62e01e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum number of indices (default: 1). <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html" title="ParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured P...">ParticleFilterTracker</a> does not take into account the hypothesis whose the number of points is smaller than the minimum indices.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a58ba4599231097e4373589873d62e01e">更多...</a><br /></td></tr>
<tr class="separator:a58ba4599231097e4373589873d62e01e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afe60b5beb228c7f1b5830c8d89e01566"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#afe60b5beb228c7f1b5830c8d89e01566">setTrans</a> (const Eigen::Affine3f &amp;trans)</td></tr>
<tr class="memdesc:afe60b5beb228c7f1b5830c8d89e01566"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the transformation from the world coordinates to the frame of the particles.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#afe60b5beb228c7f1b5830c8d89e01566">更多...</a><br /></td></tr>
<tr class="separator:afe60b5beb228c7f1b5830c8d89e01566"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a532b3b446a3b1cd7bb00d2c79364931c"><td class="memItemLeft" align="right" valign="top"><a id="a532b3b446a3b1cd7bb00d2c79364931c"></a>
Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a532b3b446a3b1cd7bb00d2c79364931c">getTrans</a> () const</td></tr>
<tr class="memdesc:a532b3b446a3b1cd7bb00d2c79364931c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the transformation from the world coordinates to the frame of the particles. <br /></td></tr>
<tr class="separator:a532b3b446a3b1cd7bb00d2c79364931c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e7908d0f758a1a0c9c95c6176323350"><td class="memItemLeft" align="right" valign="top"><a id="a8e7908d0f758a1a0c9c95c6176323350"></a>
virtual StateT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8e7908d0f758a1a0c9c95c6176323350">getResult</a> () const</td></tr>
<tr class="memdesc:a8e7908d0f758a1a0c9c95c6176323350"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get an instance of the result of tracking. This function returns the particle that represents the transform between the reference point cloud at the beginning and the best guess about its location in the most recent frame. <br /></td></tr>
<tr class="separator:a8e7908d0f758a1a0c9c95c6176323350"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5882a7652169ac27e88d56f0275ecd99"><td class="memItemLeft" align="right" valign="top">Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5882a7652169ac27e88d56f0275ecd99">toEigenMatrix</a> (const StateT &amp;particle)</td></tr>
<tr class="memdesc:a5882a7652169ac27e88d56f0275ecd99"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert a state to affine transformation from the world coordinates frame.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5882a7652169ac27e88d56f0275ecd99">更多...</a><br /></td></tr>
<tr class="separator:a5882a7652169ac27e88d56f0275ecd99"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6331afb4c3aac3b6e8e879da36ffb24c"><td class="memItemLeft" align="right" valign="top"><a id="a6331afb4c3aac3b6e8e879da36ffb24c"></a>
PointCloudStatePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a6331afb4c3aac3b6e8e879da36ffb24c">getParticles</a> () const</td></tr>
<tr class="memdesc:a6331afb4c3aac3b6e8e879da36ffb24c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to a pointcloud of the particles. <br /></td></tr>
<tr class="separator:a6331afb4c3aac3b6e8e879da36ffb24c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0219863e21ccf578f3d71b6d0189e0b"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad0219863e21ccf578f3d71b6d0189e0b">normalizeParticleWeight</a> (double w, double w_min, double w_max)</td></tr>
<tr class="memdesc:ad0219863e21ccf578f3d71b6d0189e0b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normalize the weight of a particle using <img class="formulaInl" alt="$ exp(1- alpha ( w - w_{min}) / (w_max - w_min)) $" src="form_80.png"/>  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad0219863e21ccf578f3d71b6d0189e0b">更多...</a><br /></td></tr>
<tr class="separator:ad0219863e21ccf578f3d71b6d0189e0b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac79b9f51a14315772b8cf194c4a2994f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac79b9f51a14315772b8cf194c4a2994f">setAlpha</a> (double alpha)</td></tr>
<tr class="memdesc:ac79b9f51a14315772b8cf194c4a2994f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the value of alpha.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac79b9f51a14315772b8cf194c4a2994f">更多...</a><br /></td></tr>
<tr class="separator:ac79b9f51a14315772b8cf194c4a2994f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac38ddabe5cb84e54efb168d68a5c79a6"><td class="memItemLeft" align="right" valign="top"><a id="ac38ddabe5cb84e54efb168d68a5c79a6"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac38ddabe5cb84e54efb168d68a5c79a6">getAlpha</a> ()</td></tr>
<tr class="memdesc:ac38ddabe5cb84e54efb168d68a5c79a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the value of alpha. <br /></td></tr>
<tr class="separator:ac38ddabe5cb84e54efb168d68a5c79a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8621428eed66d16e2283eecdede16ec9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8621428eed66d16e2283eecdede16ec9">setUseNormal</a> (bool use_normal)</td></tr>
<tr class="memdesc:a8621428eed66d16e2283eecdede16ec9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the value of use_normal_.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8621428eed66d16e2283eecdede16ec9">更多...</a><br /></td></tr>
<tr class="separator:a8621428eed66d16e2283eecdede16ec9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada81e277d1399ff54fd6f4679e9380e2"><td class="memItemLeft" align="right" valign="top"><a id="ada81e277d1399ff54fd6f4679e9380e2"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ada81e277d1399ff54fd6f4679e9380e2">getUseNormal</a> ()</td></tr>
<tr class="memdesc:ada81e277d1399ff54fd6f4679e9380e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the value of use_normal_. <br /></td></tr>
<tr class="separator:ada81e277d1399ff54fd6f4679e9380e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2d45b7b6678ece3d60434735869b2537"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2d45b7b6678ece3d60434735869b2537">setUseChangeDetector</a> (bool use_change_detector)</td></tr>
<tr class="memdesc:a2d45b7b6678ece3d60434735869b2537"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the value of use_change_detector_.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2d45b7b6678ece3d60434735869b2537">更多...</a><br /></td></tr>
<tr class="separator:a2d45b7b6678ece3d60434735869b2537"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a099f06a28490b8d421034de6a2fcea14"><td class="memItemLeft" align="right" valign="top"><a id="a099f06a28490b8d421034de6a2fcea14"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a099f06a28490b8d421034de6a2fcea14">getUseChangeDetector</a> ()</td></tr>
<tr class="memdesc:a099f06a28490b8d421034de6a2fcea14"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the value of use_change_detector_. <br /></td></tr>
<tr class="separator:a099f06a28490b8d421034de6a2fcea14"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4a20aa937a5c1cbb549eddcf5e83f08"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4a20aa937a5c1cbb549eddcf5e83f08">setMotionRatio</a> (double motion_ratio)</td></tr>
<tr class="memdesc:af4a20aa937a5c1cbb549eddcf5e83f08"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the motion ratio  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af4a20aa937a5c1cbb549eddcf5e83f08">更多...</a><br /></td></tr>
<tr class="separator:af4a20aa937a5c1cbb549eddcf5e83f08"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a967f6b60b81099746dd449d21992b2b6"><td class="memItemLeft" align="right" valign="top"><a id="a967f6b60b81099746dd449d21992b2b6"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a967f6b60b81099746dd449d21992b2b6">getMotionRatio</a> ()</td></tr>
<tr class="memdesc:a967f6b60b81099746dd449d21992b2b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the motion ratio. <br /></td></tr>
<tr class="separator:a967f6b60b81099746dd449d21992b2b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2c5f8286b5a3a94e2515bd4484ef855"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2c5f8286b5a3a94e2515bd4484ef855">setIntervalOfChangeDetection</a> (unsigned int change_detector_interval)</td></tr>
<tr class="memdesc:aa2c5f8286b5a3a94e2515bd4484ef855"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of interval frames to run change detection.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa2c5f8286b5a3a94e2515bd4484ef855">更多...</a><br /></td></tr>
<tr class="separator:aa2c5f8286b5a3a94e2515bd4484ef855"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a18820a5db547a429ed98508bfc963bd7"><td class="memItemLeft" align="right" valign="top"><a id="a18820a5db547a429ed98508bfc963bd7"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a18820a5db547a429ed98508bfc963bd7">getIntervalOfChangeDetection</a> ()</td></tr>
<tr class="memdesc:a18820a5db547a429ed98508bfc963bd7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of interval frames to run change detection. <br /></td></tr>
<tr class="separator:a18820a5db547a429ed98508bfc963bd7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4247ac126f4abd1ae4592d9c97104588"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4247ac126f4abd1ae4592d9c97104588">setMinPointsOfChangeDetection</a> (unsigned int change_detector_filter)</td></tr>
<tr class="memdesc:a4247ac126f4abd1ae4592d9c97104588"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum amount of points required within leaf node to become serialized in change detection  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a4247ac126f4abd1ae4592d9c97104588">更多...</a><br /></td></tr>
<tr class="separator:a4247ac126f4abd1ae4592d9c97104588"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77e74db175dd2a36b6156b1905dc0749"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a77e74db175dd2a36b6156b1905dc0749">setResolutionOfChangeDetection</a> (double resolution)</td></tr>
<tr class="memdesc:a77e74db175dd2a36b6156b1905dc0749"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the resolution of change detection.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a77e74db175dd2a36b6156b1905dc0749">更多...</a><br /></td></tr>
<tr class="separator:a77e74db175dd2a36b6156b1905dc0749"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1e9ca99cc7b0c9f7d7acada7c1091f6"><td class="memItemLeft" align="right" valign="top"><a id="ac1e9ca99cc7b0c9f7d7acada7c1091f6"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac1e9ca99cc7b0c9f7d7acada7c1091f6">getResolutionOfChangeDetection</a> ()</td></tr>
<tr class="memdesc:ac1e9ca99cc7b0c9f7d7acada7c1091f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the resolution of change detection. <br /></td></tr>
<tr class="separator:ac1e9ca99cc7b0c9f7d7acada7c1091f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf18bbfbcd9d29089441bb7cbe6aa1fa"><td class="memItemLeft" align="right" valign="top"><a id="adf18bbfbcd9d29089441bb7cbe6aa1fa"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#adf18bbfbcd9d29089441bb7cbe6aa1fa">getMinPointsOfChangeDetection</a> ()</td></tr>
<tr class="memdesc:adf18bbfbcd9d29089441bb7cbe6aa1fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum amount of points required within leaf node to become serialized in change detection. <br /></td></tr>
<tr class="separator:adf18bbfbcd9d29089441bb7cbe6aa1fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1b4cbb515ab39e10f50454d5b356e9d8"><td class="memItemLeft" align="right" valign="top"><a id="a1b4cbb515ab39e10f50454d5b356e9d8"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1b4cbb515ab39e10f50454d5b356e9d8">getFitRatio</a> () const</td></tr>
<tr class="memdesc:a1b4cbb515ab39e10f50454d5b356e9d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the adjustment ratio. <br /></td></tr>
<tr class="separator:a1b4cbb515ab39e10f50454d5b356e9d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8409419393c02fab945ee33f80cf8f6d"><td class="memItemLeft" align="right" valign="top"><a id="a8409419393c02fab945ee33f80cf8f6d"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8409419393c02fab945ee33f80cf8f6d">resetTracking</a> ()</td></tr>
<tr class="memdesc:a8409419393c02fab945ee33f80cf8f6d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset the particles to restart tracking <br /></td></tr>
<tr class="separator:a8409419393c02fab945ee33f80cf8f6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1tracking_1_1_tracker"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1tracking_1_1_tracker')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:ace76ac69bdb310e0f679a3d321456c71 inherit pub_methods_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="ace76ac69bdb310e0f679a3d321456c71"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#ace76ac69bdb310e0f679a3d321456c71">Tracker</a> ()</td></tr>
<tr class="memdesc:ace76ac69bdb310e0f679a3d321456c71 inherit pub_methods_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:ace76ac69bdb310e0f679a3d321456c71 inherit pub_methods_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33f13863f8b42e01886999134917779a inherit pub_methods_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a33f13863f8b42e01886999134917779a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#a33f13863f8b42e01886999134917779a">compute</a> ()</td></tr>
<tr class="memdesc:a33f13863f8b42e01886999134917779a inherit pub_methods_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base method for tracking for all points given in &lt;setInputCloud (), setIndices ()&gt; using the indices in setIndices () <br /></td></tr>
<tr class="separator:a33f13863f8b42e01886999134917779a inherit pub_methods_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
<tr class="separator:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
<tr class="separator:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
<tr class="separator:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
<tr class="separator:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointInT &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a1db96caa50c71c128263ea9f2ecf9fff"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1db96caa50c71c128263ea9f2ecf9fff">calcBoundingBox</a> (double &amp;x_min, double &amp;x_max, double &amp;y_min, double &amp;y_max, double &amp;z_min, double &amp;z_max)</td></tr>
<tr class="memdesc:a1db96caa50c71c128263ea9f2ecf9fff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the parameters for the bounding box of hypothesis pointclouds.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1db96caa50c71c128263ea9f2ecf9fff">更多...</a><br /></td></tr>
<tr class="separator:a1db96caa50c71c128263ea9f2ecf9fff"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab2630390687599ddef3854f7ae8fe6f0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab2630390687599ddef3854f7ae8fe6f0">cropInputPointCloud</a> (const PointCloudInConstPtr &amp;cloud, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;output)</td></tr>
<tr class="memdesc:ab2630390687599ddef3854f7ae8fe6f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Crop the pointcloud by the bounding box calculated from hypothesis and the reference pointcloud.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab2630390687599ddef3854f7ae8fe6f0">更多...</a><br /></td></tr>
<tr class="separator:ab2630390687599ddef3854f7ae8fe6f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e0fb653373436035e2984ee76255500"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2e0fb653373436035e2984ee76255500">computeTransformedPointCloud</a> (const StateT &amp;hypothesis, std::vector&lt; int &gt; &amp;indices, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud)</td></tr>
<tr class="memdesc:a2e0fb653373436035e2984ee76255500"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute a reference pointcloud transformed to the pose that hypothesis represents.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2e0fb653373436035e2984ee76255500">更多...</a><br /></td></tr>
<tr class="separator:a2e0fb653373436035e2984ee76255500"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e73b9293c4369d0768342ee976e1f3d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a7e73b9293c4369d0768342ee976e1f3d">computeTransformedPointCloudWithNormal</a> (const StateT &amp;hypothesis, std::vector&lt; int &gt; &amp;indices, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud)</td></tr>
<tr class="memdesc:a7e73b9293c4369d0768342ee976e1f3d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indices taking occlusion into account.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a7e73b9293c4369d0768342ee976e1f3d">更多...</a><br /></td></tr>
<tr class="separator:a7e73b9293c4369d0768342ee976e1f3d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a85913614c3446c49ad88393427143877"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a85913614c3446c49ad88393427143877">computeTransformedPointCloudWithoutNormal</a> (const StateT &amp;hypothesis, <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud)</td></tr>
<tr class="memdesc:a85913614c3446c49ad88393427143877"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indices without taking occlusion into account.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a85913614c3446c49ad88393427143877">更多...</a><br /></td></tr>
<tr class="separator:a85913614c3446c49ad88393427143877"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a61ee2780a57df3d7d87085606309feeb"><td class="memItemLeft" align="right" valign="top"><a id="a61ee2780a57df3d7d87085606309feeb"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a61ee2780a57df3d7d87085606309feeb">initCompute</a> ()</td></tr>
<tr class="memdesc:a61ee2780a57df3d7d87085606309feeb"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation. <br /></td></tr>
<tr class="separator:a61ee2780a57df3d7d87085606309feeb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5216bb01bcafb20f97c2a565ce9a011"><td class="memItemLeft" align="right" valign="top"><a id="ad5216bb01bcafb20f97c2a565ce9a011"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad5216bb01bcafb20f97c2a565ce9a011">weight</a> ()</td></tr>
<tr class="memdesc:ad5216bb01bcafb20f97c2a565ce9a011"><td class="mdescLeft">&#160;</td><td class="mdescRight">Weighting phase of particle filter method. Calculate the likelihood of all of the particles and set the weights. <br /></td></tr>
<tr class="separator:ad5216bb01bcafb20f97c2a565ce9a011"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b789067da944454bdc620eb8b389283"><td class="memItemLeft" align="right" valign="top"><a id="a8b789067da944454bdc620eb8b389283"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8b789067da944454bdc620eb8b389283">resample</a> ()</td></tr>
<tr class="memdesc:a8b789067da944454bdc620eb8b389283"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resampling phase of particle filter method. Sampling the particles according to the weights calculated in weight method. In particular, "sample with replacement" is archieved by walker's alias method. <br /></td></tr>
<tr class="separator:a8b789067da944454bdc620eb8b389283"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad397829c9e788bf8ed30dc7039446406"><td class="memItemLeft" align="right" valign="top"><a id="ad397829c9e788bf8ed30dc7039446406"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad397829c9e788bf8ed30dc7039446406">update</a> ()</td></tr>
<tr class="memdesc:ad397829c9e788bf8ed30dc7039446406"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the weighted mean of the particles and set it as the result. <br /></td></tr>
<tr class="separator:ad397829c9e788bf8ed30dc7039446406"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af785806003a8c30f7d98846697149420"><td class="memItemLeft" align="right" valign="top"><a id="af785806003a8c30f7d98846697149420"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af785806003a8c30f7d98846697149420">normalizeWeight</a> ()</td></tr>
<tr class="memdesc:af785806003a8c30f7d98846697149420"><td class="mdescLeft">&#160;</td><td class="mdescRight">Normalize the weights of all the particels. <br /></td></tr>
<tr class="separator:af785806003a8c30f7d98846697149420"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1f7cd991aa9d0996281cdbf2deadc500"><td class="memItemLeft" align="right" valign="top"><a id="a1f7cd991aa9d0996281cdbf2deadc500"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1f7cd991aa9d0996281cdbf2deadc500">initParticles</a> (bool reset)</td></tr>
<tr class="memdesc:a1f7cd991aa9d0996281cdbf2deadc500"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the particles. initial_noise_covariance_ and initial_noise_mean_ are used for Gaussian sampling. <br /></td></tr>
<tr class="separator:a1f7cd991aa9d0996281cdbf2deadc500"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3413d607ca8cdcc30f23d06cd4af0088"><td class="memItemLeft" align="right" valign="top"><a id="a3413d607ca8cdcc30f23d06cd4af0088"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a3413d607ca8cdcc30f23d06cd4af0088">computeTracking</a> ()</td></tr>
<tr class="memdesc:a3413d607ca8cdcc30f23d06cd4af0088"><td class="mdescLeft">&#160;</td><td class="mdescRight">Track the pointcloud using particle filter method. <br /></td></tr>
<tr class="separator:a3413d607ca8cdcc30f23d06cd4af0088"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b54d7532eb15ef2ea0d30e1eb106c65"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2b54d7532eb15ef2ea0d30e1eb106c65">sampleWithReplacement</a> (const std::vector&lt; int &gt; &amp;a, const std::vector&lt; double &gt; &amp;q)</td></tr>
<tr class="memdesc:a2b54d7532eb15ef2ea0d30e1eb106c65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Implementation of "sample with replacement" using Walker's alias method. about Walker's alias method, you can check the paper below: article{355749}, author = {Walker, Alastair J.}, title = {An Efficient Method for Generating Discrete Random Variables with General Distributions}, journal = {ACM Trans. Math. Softw.}, volume = {3}, number = {3}, year = {1977}, issn = {0098-3500}, pages = {253&ndash;256}, doi = {<a href="http://doi.acm.org/10.1145/355744.355749">http://doi.acm.org/10.1145/355744.355749</a>}, publisher = {ACM}, address = {New York, NY, USA}, }  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a2b54d7532eb15ef2ea0d30e1eb106c65">更多...</a><br /></td></tr>
<tr class="separator:a2b54d7532eb15ef2ea0d30e1eb106c65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a10ada9076b703e6dde51319aea6bac59"><td class="memItemLeft" align="right" valign="top"><a id="a10ada9076b703e6dde51319aea6bac59"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a10ada9076b703e6dde51319aea6bac59">genAliasTable</a> (std::vector&lt; int &gt; &amp;a, std::vector&lt; double &gt; &amp;q, const PointCloudStateConstPtr &amp;particles)</td></tr>
<tr class="memdesc:a10ada9076b703e6dde51319aea6bac59"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate the tables for walker's alias method. <br /></td></tr>
<tr class="separator:a10ada9076b703e6dde51319aea6bac59"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a57bef62582b9834b0357f8febb424ba3"><td class="memItemLeft" align="right" valign="top"><a id="a57bef62582b9834b0357f8febb424ba3"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a57bef62582b9834b0357f8febb424ba3">resampleWithReplacement</a> ()</td></tr>
<tr class="memdesc:a57bef62582b9834b0357f8febb424ba3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resampling the particle with replacement. <br /></td></tr>
<tr class="separator:a57bef62582b9834b0357f8febb424ba3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab507151b720700eb630346dc7f565a9c"><td class="memItemLeft" align="right" valign="top"><a id="ab507151b720700eb630346dc7f565a9c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab507151b720700eb630346dc7f565a9c">resampleDeterministic</a> ()</td></tr>
<tr class="memdesc:ab507151b720700eb630346dc7f565a9c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resampling the particle in deterministic way. <br /></td></tr>
<tr class="separator:ab507151b720700eb630346dc7f565a9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a401abe3b0fd3b25b508820e3d17cd47d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a401abe3b0fd3b25b508820e3d17cd47d">testChangeDetection</a> (const PointCloudInConstPtr &amp;input)</td></tr>
<tr class="memdesc:a401abe3b0fd3b25b508820e3d17cd47d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run change detection and return true if there is a change.  <a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a401abe3b0fd3b25b508820e3d17cd47d">更多...</a><br /></td></tr>
<tr class="separator:a401abe3b0fd3b25b508820e3d17cd47d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1tracking_1_1_tracker"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1tracking_1_1_tracker')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:a4c1fa53775fb65484611b33ce4773a2c inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a4c1fa53775fb65484611b33ce4773a2c"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#a4c1fa53775fb65484611b33ce4773a2c">getClassName</a> () const</td></tr>
<tr class="memdesc:a4c1fa53775fb65484611b33ce4773a2c inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:a4c1fa53775fb65484611b33ce4773a2c inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3dc29b3ec41eab5118f32f6e0d0a530d inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#a3dc29b3ec41eab5118f32f6e0d0a530d">setSearchMethod</a> (const SearchPtr &amp;search)</td></tr>
<tr class="memdesc:a3dc29b3ec41eab5118f32f6e0d0a530d inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud. <br  />
  <a href="classpcl_1_1tracking_1_1_tracker.html#a3dc29b3ec41eab5118f32f6e0d0a530d">更多...</a><br /></td></tr>
<tr class="separator:a3dc29b3ec41eab5118f32f6e0d0a530d inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7b69894c55f2eb469ecefa0f94d9b10a inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a7b69894c55f2eb469ecefa0f94d9b10a"></a>
SearchPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#a7b69894c55f2eb469ecefa0f94d9b10a">getSearchMethod</a> ()</td></tr>
<tr class="memdesc:a7b69894c55f2eb469ecefa0f94d9b10a inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the point cloud dataset. <br /></td></tr>
<tr class="separator:a7b69894c55f2eb469ecefa0f94d9b10a inherit pro_methods_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a1aba95f8a1e5781e13c445adc1fdc603"><td class="memItemLeft" align="right" valign="top"><a id="a1aba95f8a1e5781e13c445adc1fdc603"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1aba95f8a1e5781e13c445adc1fdc603">iteration_num_</a></td></tr>
<tr class="memdesc:a1aba95f8a1e5781e13c445adc1fdc603"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of iteration of particlefilter. <br /></td></tr>
<tr class="separator:a1aba95f8a1e5781e13c445adc1fdc603"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad44d8b9caef589f337a57b2c2ef9929e"><td class="memItemLeft" align="right" valign="top"><a id="ad44d8b9caef589f337a57b2c2ef9929e"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad44d8b9caef589f337a57b2c2ef9929e">particle_num_</a></td></tr>
<tr class="memdesc:ad44d8b9caef589f337a57b2c2ef9929e"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of the particles. <br /></td></tr>
<tr class="separator:ad44d8b9caef589f337a57b2c2ef9929e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa964174e2cde6a040d259c1a41b49b1e"><td class="memItemLeft" align="right" valign="top"><a id="aa964174e2cde6a040d259c1a41b49b1e"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa964174e2cde6a040d259c1a41b49b1e">min_indices_</a></td></tr>
<tr class="memdesc:aa964174e2cde6a040d259c1a41b49b1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum number of points which the hypothesis should have. <br /></td></tr>
<tr class="separator:aa964174e2cde6a040d259c1a41b49b1e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac069bd9c4a92dc260f350131d9d1b16c"><td class="memItemLeft" align="right" valign="top"><a id="ac069bd9c4a92dc260f350131d9d1b16c"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ac069bd9c4a92dc260f350131d9d1b16c">fit_ratio_</a></td></tr>
<tr class="memdesc:ac069bd9c4a92dc260f350131d9d1b16c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adjustment of the particle filter. <br /></td></tr>
<tr class="separator:ac069bd9c4a92dc260f350131d9d1b16c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a409c2293448b36cf135dc8177cab8f29"><td class="memItemLeft" align="right" valign="top"><a id="a409c2293448b36cf135dc8177cab8f29"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">ref_</a></td></tr>
<tr class="memdesc:a409c2293448b36cf135dc8177cab8f29"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to reference point cloud. <br /></td></tr>
<tr class="separator:a409c2293448b36cf135dc8177cab8f29"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8770718116c4a55f51d1da3c37c9b90"><td class="memItemLeft" align="right" valign="top"><a id="ab8770718116c4a55f51d1da3c37c9b90"></a>
PointCloudStatePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab8770718116c4a55f51d1da3c37c9b90">particles_</a></td></tr>
<tr class="memdesc:ab8770718116c4a55f51d1da3c37c9b90"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the particles <br  />
 <br /></td></tr>
<tr class="separator:ab8770718116c4a55f51d1da3c37c9b90"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a24e39d2742fd388e032ea0589c9671a6"><td class="memItemLeft" align="right" valign="top"><a id="a24e39d2742fd388e032ea0589c9671a6"></a>
CloudCoherencePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a24e39d2742fd388e032ea0589c9671a6">coherence_</a></td></tr>
<tr class="memdesc:a24e39d2742fd388e032ea0589c9671a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html" title="PointCloudCoherence is a base class to compute coherence between the two PointClouds.">PointCloudCoherence</a>. <br /></td></tr>
<tr class="separator:a24e39d2742fd388e032ea0589c9671a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a757a9ebe6a716af29dcd8efad052730d"><td class="memItemLeft" align="right" valign="top"><a id="a757a9ebe6a716af29dcd8efad052730d"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a757a9ebe6a716af29dcd8efad052730d">step_noise_covariance_</a></td></tr>
<tr class="memdesc:a757a9ebe6a716af29dcd8efad052730d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The diagonal elements of covariance matrix of the step noise. the covariance matrix is used at every resample method. <br /></td></tr>
<tr class="separator:a757a9ebe6a716af29dcd8efad052730d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55ad536efe1907a540940731c553143a"><td class="memItemLeft" align="right" valign="top"><a id="a55ad536efe1907a540940731c553143a"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a55ad536efe1907a540940731c553143a">initial_noise_covariance_</a></td></tr>
<tr class="memdesc:a55ad536efe1907a540940731c553143a"><td class="mdescLeft">&#160;</td><td class="mdescRight">The diagonal elements of covariance matrix of the initial noise. the covariance matrix is used when initialize the particles. <br /></td></tr>
<tr class="separator:a55ad536efe1907a540940731c553143a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a894616f39a231ae134d5c8e2130c5c"><td class="memItemLeft" align="right" valign="top"><a id="a9a894616f39a231ae134d5c8e2130c5c"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a9a894616f39a231ae134d5c8e2130c5c">initial_noise_mean_</a></td></tr>
<tr class="memdesc:a9a894616f39a231ae134d5c8e2130c5c"><td class="mdescLeft">&#160;</td><td class="mdescRight">The mean values of initial noise. <br /></td></tr>
<tr class="separator:a9a894616f39a231ae134d5c8e2130c5c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad40b58e84468bb1c506b438159cfc851"><td class="memItemLeft" align="right" valign="top"><a id="ad40b58e84468bb1c506b438159cfc851"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad40b58e84468bb1c506b438159cfc851">resample_likelihood_thr_</a></td></tr>
<tr class="memdesc:ad40b58e84468bb1c506b438159cfc851"><td class="mdescLeft">&#160;</td><td class="mdescRight">The threshold for the particles to be re-initialized. <br /></td></tr>
<tr class="separator:ad40b58e84468bb1c506b438159cfc851"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7ebd48f7499e9528b514d4a302b6d27"><td class="memItemLeft" align="right" valign="top"><a id="af7ebd48f7499e9528b514d4a302b6d27"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af7ebd48f7499e9528b514d4a302b6d27">occlusion_angle_thr_</a></td></tr>
<tr class="memdesc:af7ebd48f7499e9528b514d4a302b6d27"><td class="mdescLeft">&#160;</td><td class="mdescRight">The threshold for the points to be considered as occluded. <br /></td></tr>
<tr class="separator:af7ebd48f7499e9528b514d4a302b6d27"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa4c05a9706ae93773af16c3c2321e287"><td class="memItemLeft" align="right" valign="top"><a id="aa4c05a9706ae93773af16c3c2321e287"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">alpha_</a></td></tr>
<tr class="memdesc:aa4c05a9706ae93773af16c3c2321e287"><td class="mdescLeft">&#160;</td><td class="mdescRight">The weight to be used in normalization of the weights of the particles. <br /></td></tr>
<tr class="separator:aa4c05a9706ae93773af16c3c2321e287"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a6bfeb4218fc528b420748cc6749c63"><td class="memItemLeft" align="right" valign="top"><a id="a5a6bfeb4218fc528b420748cc6749c63"></a>
StateT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5a6bfeb4218fc528b420748cc6749c63">representative_state_</a></td></tr>
<tr class="memdesc:a5a6bfeb4218fc528b420748cc6749c63"><td class="mdescLeft">&#160;</td><td class="mdescRight">The result of tracking. <br /></td></tr>
<tr class="separator:a5a6bfeb4218fc528b420748cc6749c63"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af76e21216bd17d671bf54d5638b21bee"><td class="memItemLeft" align="right" valign="top"><a id="af76e21216bd17d671bf54d5638b21bee"></a>
Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af76e21216bd17d671bf54d5638b21bee">trans_</a></td></tr>
<tr class="memdesc:af76e21216bd17d671bf54d5638b21bee"><td class="mdescLeft">&#160;</td><td class="mdescRight">An affine transformation from the world coordinates frame to the origin of the particles. <br /></td></tr>
<tr class="separator:af76e21216bd17d671bf54d5638b21bee"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa9ba7d5f9e0d47cb22eed039e7f0e2d7"><td class="memItemLeft" align="right" valign="top"><a id="aa9ba7d5f9e0d47cb22eed039e7f0e2d7"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa9ba7d5f9e0d47cb22eed039e7f0e2d7">use_normal_</a></td></tr>
<tr class="memdesc:aa9ba7d5f9e0d47cb22eed039e7f0e2d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">A flag to use normal or not. defaults to false. <br /></td></tr>
<tr class="separator:aa9ba7d5f9e0d47cb22eed039e7f0e2d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae44c837660b89abe2827fdbfd5c2eaa3"><td class="memItemLeft" align="right" valign="top"><a id="ae44c837660b89abe2827fdbfd5c2eaa3"></a>
StateT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae44c837660b89abe2827fdbfd5c2eaa3">motion_</a></td></tr>
<tr class="memdesc:ae44c837660b89abe2827fdbfd5c2eaa3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Difference between the result in t and t-1. <br /></td></tr>
<tr class="separator:ae44c837660b89abe2827fdbfd5c2eaa3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1cdc70977f26bcd2446de0bff0633a90"><td class="memItemLeft" align="right" valign="top"><a id="a1cdc70977f26bcd2446de0bff0633a90"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1cdc70977f26bcd2446de0bff0633a90">motion_ratio_</a></td></tr>
<tr class="memdesc:a1cdc70977f26bcd2446de0bff0633a90"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ratio of hypothesis to use motion model. <br /></td></tr>
<tr class="separator:a1cdc70977f26bcd2446de0bff0633a90"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad878fa3e4647d44e087740b4daf71f6c"><td class="memItemLeft" align="right" valign="top"><a id="ad878fa3e4647d44e087740b4daf71f6c"></a>
<a class="el" href="classpcl_1_1_pass_through.html">pcl::PassThrough</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">pass_x_</a></td></tr>
<tr class="memdesc:ad878fa3e4647d44e087740b4daf71f6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pass through filter to crop the pointclouds within the hypothesis bounding box. <br /></td></tr>
<tr class="separator:ad878fa3e4647d44e087740b4daf71f6c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8be1d9bfe84d5b06f5ac06ee02aaed4f"><td class="memItemLeft" align="right" valign="top"><a id="a8be1d9bfe84d5b06f5ac06ee02aaed4f"></a>
<a class="el" href="classpcl_1_1_pass_through.html">pcl::PassThrough</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">pass_y_</a></td></tr>
<tr class="memdesc:a8be1d9bfe84d5b06f5ac06ee02aaed4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pass through filter to crop the pointclouds within the hypothesis bounding box. <br /></td></tr>
<tr class="separator:a8be1d9bfe84d5b06f5ac06ee02aaed4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a76c3534fd0d41e345f878add5d131bae"><td class="memItemLeft" align="right" valign="top"><a id="a76c3534fd0d41e345f878add5d131bae"></a>
<a class="el" href="classpcl_1_1_pass_through.html">pcl::PassThrough</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">pass_z_</a></td></tr>
<tr class="memdesc:a76c3534fd0d41e345f878add5d131bae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pass through filter to crop the pointclouds within the hypothesis bounding box. <br /></td></tr>
<tr class="separator:a76c3534fd0d41e345f878add5d131bae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a82b8125f2a37f31b93844a9b49544eef"><td class="memItemLeft" align="right" valign="top"><a id="a82b8125f2a37f31b93844a9b49544eef"></a>
std::vector&lt; PointCloudInPtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a82b8125f2a37f31b93844a9b49544eef">transed_reference_vector_</a></td></tr>
<tr class="memdesc:a82b8125f2a37f31b93844a9b49544eef"><td class="mdescLeft">&#160;</td><td class="mdescRight">A list of the pointers to pointclouds. <br /></td></tr>
<tr class="separator:a82b8125f2a37f31b93844a9b49544eef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abaffda09f3641a87d297ba392ebb25df"><td class="memItemLeft" align="right" valign="top"><a id="abaffda09f3641a87d297ba392ebb25df"></a>
boost::shared_ptr&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html">pcl::octree::OctreePointCloudChangeDetector</a>&lt; PointInT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abaffda09f3641a87d297ba392ebb25df">change_detector_</a></td></tr>
<tr class="memdesc:abaffda09f3641a87d297ba392ebb25df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change detector used as a trigger to track. <br /></td></tr>
<tr class="separator:abaffda09f3641a87d297ba392ebb25df"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5982b1c4fdd420e90ff7458a5115bf4f"><td class="memItemLeft" align="right" valign="top"><a id="a5982b1c4fdd420e90ff7458a5115bf4f"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5982b1c4fdd420e90ff7458a5115bf4f">changed_</a></td></tr>
<tr class="memdesc:a5982b1c4fdd420e90ff7458a5115bf4f"><td class="mdescLeft">&#160;</td><td class="mdescRight">A flag to be true when change of pointclouds is detected. <br /></td></tr>
<tr class="separator:a5982b1c4fdd420e90ff7458a5115bf4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a91f86c1703de285ca01c44beacf4aa1f"><td class="memItemLeft" align="right" valign="top"><a id="a91f86c1703de285ca01c44beacf4aa1f"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a91f86c1703de285ca01c44beacf4aa1f">change_counter_</a></td></tr>
<tr class="memdesc:a91f86c1703de285ca01c44beacf4aa1f"><td class="mdescLeft">&#160;</td><td class="mdescRight">A counter to skip change detection. <br /></td></tr>
<tr class="separator:a91f86c1703de285ca01c44beacf4aa1f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5cdb66e2ad728b386f93b6e73755beaf"><td class="memItemLeft" align="right" valign="top"><a id="a5cdb66e2ad728b386f93b6e73755beaf"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5cdb66e2ad728b386f93b6e73755beaf">change_detector_filter_</a></td></tr>
<tr class="memdesc:a5cdb66e2ad728b386f93b6e73755beaf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum points in a leaf when calling change detector. defaults to 10. <br /></td></tr>
<tr class="separator:a5cdb66e2ad728b386f93b6e73755beaf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abf7b67906ea653c76f098e9b48fc36cd"><td class="memItemLeft" align="right" valign="top"><a id="abf7b67906ea653c76f098e9b48fc36cd"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abf7b67906ea653c76f098e9b48fc36cd">change_detector_interval_</a></td></tr>
<tr class="memdesc:abf7b67906ea653c76f098e9b48fc36cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of interval frame to run change detection. defaults to 10. <br /></td></tr>
<tr class="separator:abf7b67906ea653c76f098e9b48fc36cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72ab6b313e05cf2fad8d9a7753ab1bde"><td class="memItemLeft" align="right" valign="top"><a id="a72ab6b313e05cf2fad8d9a7753ab1bde"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a72ab6b313e05cf2fad8d9a7753ab1bde">change_detector_resolution_</a></td></tr>
<tr class="memdesc:a72ab6b313e05cf2fad8d9a7753ab1bde"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resolution of change detector. defaults to 0.01. <br /></td></tr>
<tr class="separator:a72ab6b313e05cf2fad8d9a7753ab1bde"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae989bacbb8a5e8329a4786f691119b82"><td class="memItemLeft" align="right" valign="top"><a id="ae989bacbb8a5e8329a4786f691119b82"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae989bacbb8a5e8329a4786f691119b82">use_change_detector_</a></td></tr>
<tr class="memdesc:ae989bacbb8a5e8329a4786f691119b82"><td class="mdescLeft">&#160;</td><td class="mdescRight">The flag which will be true if using change detection. <br /></td></tr>
<tr class="separator:ae989bacbb8a5e8329a4786f691119b82"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1tracking_1_1_tracker"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1tracking_1_1_tracker')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1tracking_1_1_tracker.html">pcl::tracking::Tracker&lt; PointInT, StateT &gt;</a></td></tr>
<tr class="memitem:aaa1a7a91f381d951cc85c0c7f440f0ce inherit pro_attribs_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="aaa1a7a91f381d951cc85c0c7f440f0ce"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#aaa1a7a91f381d951cc85c0c7f440f0ce">tracker_name_</a></td></tr>
<tr class="memdesc:aaa1a7a91f381d951cc85c0c7f440f0ce inherit pro_attribs_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">The tracker name. <br /></td></tr>
<tr class="separator:aaa1a7a91f381d951cc85c0c7f440f0ce inherit pro_attribs_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c1c4fc6bf4d4e3612019ed0a6c6968c inherit pro_attribs_classpcl_1_1tracking_1_1_tracker"><td class="memItemLeft" align="right" valign="top"><a id="a3c1c4fc6bf4d4e3612019ed0a6c6968c"></a>
SearchPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1tracking_1_1_tracker.html#a3c1c4fc6bf4d4e3612019ed0a6c6968c">search_</a></td></tr>
<tr class="memdesc:a3c1c4fc6bf4d4e3612019ed0a6c6968c inherit pro_attribs_classpcl_1_1tracking_1_1_tracker"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object. <br /></td></tr>
<tr class="separator:a3c1c4fc6bf4d4e3612019ed0a6c6968c inherit pro_attribs_classpcl_1_1tracking_1_1_tracker"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
<tr class="separator:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointInT, typename StateT&gt;<br />
class pcl::tracking::ParticleFilterTracker&lt; PointInT, StateT &gt;</h3>

<p><b><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html" title="ParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured P...">ParticleFilterTracker</a></b> tracks the <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> which is given by setReferenceCloud within the measured <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> using particle filter method. </p>
<dl class="section author"><dt>作者</dt><dd>Ryohei Ueda </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a1db96caa50c71c128263ea9f2ecf9fff"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1db96caa50c71c128263ea9f2ecf9fff">&#9670;&nbsp;</a></span>calcBoundingBox()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::calcBoundingBox </td>
          <td>(</td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>x_min</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>x_max</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>y_min</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>y_max</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>z_min</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double &amp;&#160;</td>
          <td class="paramname"><em>z_max</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Compute the parameters for the bounding box of hypothesis pointclouds. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">x_min</td><td>the minimum value of x axis. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">x_max</td><td>the maximum value of x axis. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">y_min</td><td>the minimum value of y axis. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">y_max</td><td>the maximum value of y axis. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">z_min</td><td>the minimum value of z axis. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">z_max</td><td>the maximum value of z axis. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;{</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  x_min = y_min = z_min = std::numeric_limits&lt;double&gt;::max ();</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  x_max = y_max = z_max = - std::numeric_limits&lt;double&gt;::max ();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a82b8125f2a37f31b93844a9b49544eef">transed_reference_vector_</a>.size (); i++)</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  {</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    PointCloudInPtr target = <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a82b8125f2a37f31b93844a9b49544eef">transed_reference_vector_</a>[i];</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    PointInT Pmin, Pmax;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a> (*target, Pmin, Pmax);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordflow">if</span> (x_min &gt; Pmin.x)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      x_min = Pmin.x;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordflow">if</span> (x_max &lt; Pmax.x)</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      x_max = Pmax.x;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordflow">if</span> (y_min &gt; Pmin.y)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      y_min = Pmin.y;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordflow">if</span> (y_max &lt; Pmax.y)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      y_max = Pmax.y;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">if</span> (z_min &gt; Pmin.z)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      z_min = Pmin.z;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordflow">if</span> (z_max &lt; Pmax.z)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      z_max = Pmax.z;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a82b8125f2a37f31b93844a9b49544eef"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a82b8125f2a37f31b93844a9b49544eef">pcl::tracking::ParticleFilterTracker::transed_reference_vector_</a></div><div class="ttdeci">std::vector&lt; PointCloudInPtr &gt; transed_reference_vector_</div><div class="ttdoc">A list of the pointers to pointclouds.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:480</div></div>
<div class="ttc" id="agroup__common_html_ga3166f09aafd659f69dc75e63f5e10f81"><div class="ttname"><a href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a></div><div class="ttdeci">void getMinMax3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, PointT &amp;min_pt, PointT &amp;max_pt)</div><div class="ttdoc">Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:228</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a2e0fb653373436035e2984ee76255500"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2e0fb653373436035e2984ee76255500">&#9670;&nbsp;</a></span>computeTransformedPointCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::computeTransformedPointCloud </td>
          <td>(</td>
          <td class="paramtype">const StateT &amp;&#160;</td>
          <td class="paramname"><em>hypothesis</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Compute a reference pointcloud transformed to the pose that hypothesis represents. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">hypothesis</td><td>a particle which represents a hypothesis. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>the indices which should be taken into account. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>the resultant point cloud model dataset which is transformed to hypothesis. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;{</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa9ba7d5f9e0d47cb22eed039e7f0e2d7">use_normal_</a>)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a7e73b9293c4369d0768342ee976e1f3d">computeTransformedPointCloudWithNormal</a> (hypothesis, indices, cloud);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a85913614c3446c49ad88393427143877">computeTransformedPointCloudWithoutNormal</a> (hypothesis, cloud);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a7e73b9293c4369d0768342ee976e1f3d"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a7e73b9293c4369d0768342ee976e1f3d">pcl::tracking::ParticleFilterTracker::computeTransformedPointCloudWithNormal</a></div><div class="ttdeci">void computeTransformedPointCloudWithNormal(const StateT &amp;hypothesis, std::vector&lt; int &gt; &amp;indices, PointCloudIn &amp;cloud)</div><div class="ttdoc">Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indic...</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:295</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a85913614c3446c49ad88393427143877"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a85913614c3446c49ad88393427143877">pcl::tracking::ParticleFilterTracker::computeTransformedPointCloudWithoutNormal</a></div><div class="ttdeci">void computeTransformedPointCloudWithoutNormal(const StateT &amp;hypothesis, PointCloudIn &amp;cloud)</div><div class="ttdoc">Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indic...</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:286</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_aa9ba7d5f9e0d47cb22eed039e7f0e2d7"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa9ba7d5f9e0d47cb22eed039e7f0e2d7">pcl::tracking::ParticleFilterTracker::use_normal_</a></div><div class="ttdeci">bool use_normal_</div><div class="ttdoc">A flag to use normal or not. defaults to false.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:464</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a7e73b9293c4369d0768342ee976e1f3d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7e73b9293c4369d0768342ee976e1f3d">&#9670;&nbsp;</a></span>computeTransformedPointCloudWithNormal()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::computeTransformedPointCloudWithNormal </td>
          <td>(</td>
          <td class="paramtype">const StateT &amp;&#160;</td>
          <td class="paramname"><em>hypothesis</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indices taking occlusion into account. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">hypothesis</td><td>a particle which represents a hypothesis. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices</td><td>the indices which should be taken into account. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>the resultant point cloud model dataset which is transformed to hypothesis. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;{</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="preprocessor">#ifdef PCL_TRACKING_NORMAL_SUPPORTED</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="keyword">const</span> Eigen::Affine3f trans = <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5882a7652169ac27e88d56f0275ecd99">toEigenMatrix</a> (hypothesis);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="comment">// destructively assigns to cloud</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  pcl::transformPointCloudWithNormals&lt;PointInT&gt; (*<a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">ref_</a>, cloud, trans);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <span class="keywordflow">for</span> ( <span class="keywordtype">size_t</span> i = 0; i &lt; cloud.points.size (); i++ )</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    PointInT input_point = cloud.points[i];</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite(input_point.x) || !pcl_isfinite(input_point.y) || !pcl_isfinite(input_point.z))</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="comment">// take occlusion into account</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    Eigen::Vector4f p = input_point.getVector4fMap ();</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    Eigen::Vector4f n = input_point.getNormalVector4fMap ();</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keywordtype">double</span> theta = <a class="code" href="group__common.html#ga54999c02ba9bee56404539747b0fda51">pcl::getAngle3D</a> (p, n);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keywordflow">if</span> ( theta &gt; <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af7ebd48f7499e9528b514d4a302b6d27">occlusion_angle_thr_</a> )</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      indices.push_back (i);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::computeTransformedPointCloudWithoutNormal] use_normal_ == true is not supported in this Point Type.&quot;</span>,</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;            <a class="code" href="classpcl_1_1tracking_1_1_tracker.html#a4c1fa53775fb65484611b33ce4773a2c">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a409c2293448b36cf135dc8177cab8f29"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">pcl::tracking::ParticleFilterTracker::ref_</a></div><div class="ttdeci">PointCloudInConstPtr ref_</div><div class="ttdoc">A pointer to reference point cloud.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:427</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a5882a7652169ac27e88d56f0275ecd99"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5882a7652169ac27e88d56f0275ecd99">pcl::tracking::ParticleFilterTracker::toEigenMatrix</a></div><div class="ttdeci">Eigen::Affine3f toEigenMatrix(const StateT &amp;particle)</div><div class="ttdoc">Convert a state to affine transformation from the world coordinates frame.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_af7ebd48f7499e9528b514d4a302b6d27"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af7ebd48f7499e9528b514d4a302b6d27">pcl::tracking::ParticleFilterTracker::occlusion_angle_thr_</a></div><div class="ttdeci">double occlusion_angle_thr_</div><div class="ttdoc">The threshold for the points to be considered as occluded.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:452</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_tracker_html_a4c1fa53775fb65484611b33ce4773a2c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_tracker.html#a4c1fa53775fb65484611b33ce4773a2c">pcl::tracking::Tracker::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> tracker.h:99</div></div>
<div class="ttc" id="agroup__common_html_ga54999c02ba9bee56404539747b0fda51"><div class="ttname"><a href="group__common.html#ga54999c02ba9bee56404539747b0fda51">pcl::getAngle3D</a></div><div class="ttdeci">double getAngle3D(const Eigen::Vector4f &amp;v1, const Eigen::Vector4f &amp;v2, const bool in_degree=false)</div><div class="ttdoc">Compute the smallest angle between two 3D vectors in radians (default) or degree.</div><div class="ttdef"><b>Definition:</b> common.hpp:46</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a85913614c3446c49ad88393427143877"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a85913614c3446c49ad88393427143877">&#9670;&nbsp;</a></span>computeTransformedPointCloudWithoutNormal()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::computeTransformedPointCloudWithoutNormal </td>
          <td>(</td>
          <td class="paramtype">const StateT &amp;&#160;</td>
          <td class="paramname"><em>hypothesis</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Compute a reference pointcloud transformed to the pose that hypothesis represents and calculate indices without taking occlusion into account. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">hypothesis</td><td>a particle which represents a hypothesis. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>the resultant point cloud model dataset which is transformed to hypothesis. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;{</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="keyword">const</span> Eigen::Affine3f trans = <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5882a7652169ac27e88d56f0275ecd99">toEigenMatrix</a> (hypothesis);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="comment">// destructively assigns to cloud</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  pcl::transformPointCloud&lt;PointInT&gt; (*<a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">ref_</a>, cloud, trans);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;}</div>
</div><!-- fragment -->
</div>
</div>
<a id="ab2630390687599ddef3854f7ae8fe6f0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab2630390687599ddef3854f7ae8fe6f0">&#9670;&nbsp;</a></span>cropInputPointCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::cropInputPointCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudInConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Crop the pointcloud by the bounding box calculated from hypothesis and the reference pointcloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>a pointer to pointcloud to be cropped. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>a pointer to be assigned the cropped pointcloud. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;{</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordtype">double</span> x_min, y_min, z_min, x_max, y_max, z_max;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1db96caa50c71c128263ea9f2ecf9fff">calcBoundingBox</a> (x_min, x_max, y_min, y_max, z_min, z_max);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">pass_x_</a>.<a class="code" href="classpcl_1_1_pass_through.html#a4c852c876b5ed3d9235d5b4e59353883">setFilterLimits</a> (<span class="keywordtype">float</span> (x_min), <span class="keywordtype">float</span> (x_max));</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">pass_y_</a>.<a class="code" href="classpcl_1_1_pass_through.html#a4c852c876b5ed3d9235d5b4e59353883">setFilterLimits</a> (<span class="keywordtype">float</span> (y_min), <span class="keywordtype">float</span> (y_max));</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">pass_z_</a>.<a class="code" href="classpcl_1_1_pass_through.html#a4c852c876b5ed3d9235d5b4e59353883">setFilterLimits</a> (<span class="keywordtype">float</span> (z_min), <span class="keywordtype">float</span> (z_max));</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="comment">// x</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  PointCloudInPtr xcloud (<span class="keyword">new</span> PointCloudIn);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">pass_x_</a>.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">pass_x_</a>.filter (*xcloud);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="comment">// y</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  PointCloudInPtr ycloud (<span class="keyword">new</span> PointCloudIn);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">pass_y_</a>.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (xcloud);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">pass_y_</a>.filter (*ycloud);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="comment">// z</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">pass_z_</a>.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (ycloud);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">pass_z_</a>.filter (output);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_pass_through_html_a4c852c876b5ed3d9235d5b4e59353883"><div class="ttname"><a href="classpcl_1_1_pass_through.html#a4c852c876b5ed3d9235d5b4e59353883">pcl::PassThrough::setFilterLimits</a></div><div class="ttdeci">void setFilterLimits(const float &amp;limit_min, const float &amp;limit_max)</div><div class="ttdoc">Set the numerical limits for the field for filtering data.</div><div class="ttdef"><b>Definition:</b> passthrough.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a1db96caa50c71c128263ea9f2ecf9fff"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1db96caa50c71c128263ea9f2ecf9fff">pcl::tracking::ParticleFilterTracker::calcBoundingBox</a></div><div class="ttdeci">void calcBoundingBox(double &amp;x_min, double &amp;x_max, double &amp;y_min, double &amp;y_max, double &amp;z_min, double &amp;z_max)</div><div class="ttdoc">Compute the parameters for the bounding box of hypothesis pointclouds.</div><div class="ttdef"><b>Definition:</b> particle_filter.hpp:192</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a76c3534fd0d41e345f878add5d131bae"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a76c3534fd0d41e345f878add5d131bae">pcl::tracking::ParticleFilterTracker::pass_z_</a></div><div class="ttdeci">pcl::PassThrough&lt; PointInT &gt; pass_z_</div><div class="ttdoc">Pass through filter to crop the pointclouds within the hypothesis bounding box.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:477</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a8be1d9bfe84d5b06f5ac06ee02aaed4f"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a8be1d9bfe84d5b06f5ac06ee02aaed4f">pcl::tracking::ParticleFilterTracker::pass_y_</a></div><div class="ttdeci">pcl::PassThrough&lt; PointInT &gt; pass_y_</div><div class="ttdoc">Pass through filter to crop the pointclouds within the hypothesis bounding box.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:475</div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ad878fa3e4647d44e087740b4daf71f6c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad878fa3e4647d44e087740b4daf71f6c">pcl::tracking::ParticleFilterTracker::pass_x_</a></div><div class="ttdeci">pcl::PassThrough&lt; PointInT &gt; pass_x_</div><div class="ttdoc">Pass through filter to crop the pointclouds within the hypothesis bounding box.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:473</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="ad0219863e21ccf578f3d71b6d0189e0b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad0219863e21ccf578f3d71b6d0189e0b">&#9670;&nbsp;</a></span>normalizeParticleWeight()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::normalizeParticleWeight </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>w</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>w_min</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>w_max</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Normalize the weight of a particle using <img class="formulaInl" alt="$ exp(1- alpha ( w - w_{min}) / (w_max - w_min)) $" src="form_80.png"/> </p>
<dl class="section note"><dt>注解</dt><dd>This method is described in [P.Azad et. al, ICRA11]. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">w</td><td>the weight to be normalized </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">w_min</td><td>the minimum weight of the particles </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">w_max</td><td>the maximum weight of the particles </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          <span class="keywordflow">return</span> exp (1.0 - <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">alpha_</a> * (w - w_min) / (w_max - w_min));</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_aa4c05a9706ae93773af16c3c2321e287"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">pcl::tracking::ParticleFilterTracker::alpha_</a></div><div class="ttdeci">double alpha_</div><div class="ttdoc">The weight to be used in normalization of the weights of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:455</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a2b54d7532eb15ef2ea0d30e1eb106c65"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2b54d7532eb15ef2ea0d30e1eb106c65">&#9670;&nbsp;</a></span>sampleWithReplacement()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">int <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::sampleWithReplacement </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>a</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>q</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Implementation of "sample with replacement" using Walker's alias method. about Walker's alias method, you can check the paper below: article{355749}, author = {Walker, Alastair J.}, title = {An Efficient Method for Generating Discrete Random Variables with General Distributions}, journal = {ACM Trans. Math. Softw.}, volume = {3}, number = {3}, year = {1977}, issn = {0098-3500}, pages = {253&ndash;256}, doi = {<a href="http://doi.acm.org/10.1145/355744.355749">http://doi.acm.org/10.1145/355744.355749</a>}, publisher = {ACM}, address = {New York, NY, USA}, } </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">a</td><td>an alias table, which generated by genAliasTable. </td></tr>
    <tr><td class="paramname">q</td><td>a table of weight, which generated by genAliasTable. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;{</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keyword">using namespace </span>boost;</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">static</span> mt19937 gen (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span>(time (0)));</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  uniform_real&lt;&gt; dst (0.0, 1.0);</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  variate_generator&lt;mt19937&amp;, uniform_real&lt;&gt; &gt; rand (gen, dst);</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">double</span> rU = rand () * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab8770718116c4a55f51d1da3c37c9b90">particles_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordtype">int</span> k = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (rU);</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  rU -= k;    <span class="comment">/* rU - [rU] */</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> ( rU &lt; q[k] )</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordflow">return</span> k;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">return</span> a[k];</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ab8770718116c4a55f51d1da3c37c9b90"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ab8770718116c4a55f51d1da3c37c9b90">pcl::tracking::ParticleFilterTracker::particles_</a></div><div class="ttdeci">PointCloudStatePtr particles_</div><div class="ttdoc">A pointer to the particles</div><div class="ttdef"><b>Definition:</b> particle_filter.h:430</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="ac79b9f51a14315772b8cf194c4a2994f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac79b9f51a14315772b8cf194c4a2994f">&#9670;&nbsp;</a></span>setAlpha()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setAlpha </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>alpha</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the value of alpha. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">alpha</td><td>the value of alpha </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa4c05a9706ae93773af16c3c2321e287">alpha_</a> = alpha; }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a782c4931b7472dbb7e4f9f5fe92a9833"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a782c4931b7472dbb7e4f9f5fe92a9833">&#9670;&nbsp;</a></span>setCloudCoherence()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setCloudCoherence </td>
          <td>(</td>
          <td class="paramtype">const CloudCoherencePtr &amp;&#160;</td>
          <td class="paramname"><em>coherence</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html" title="PointCloudCoherence is a base class to compute coherence between the two PointClouds.">PointCloudCoherence</a> as likelihood. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">coherence</td><td>a pointer to <a class="el" href="classpcl_1_1tracking_1_1_point_cloud_coherence.html" title="PointCloudCoherence is a base class to compute coherence between the two PointClouds.">PointCloudCoherence</a>. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a24e39d2742fd388e032ea0589c9671a6">coherence_</a> = coherence; }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a24e39d2742fd388e032ea0589c9671a6"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a24e39d2742fd388e032ea0589c9671a6">pcl::tracking::ParticleFilterTracker::coherence_</a></div><div class="ttdeci">CloudCoherencePtr coherence_</div><div class="ttdoc">A pointer to PointCloudCoherence.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:433</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="af4af95324a9cbc1d8124498c7c5ba045"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af4af95324a9cbc1d8124498c7c5ba045">&#9670;&nbsp;</a></span>setInitialNoiseCovariance()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setInitialNoiseCovariance </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>initial_noise_covariance</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the covariance of the initial noise. It will be used when initializing the particles. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">initial_noise_covariance</td><td>the diagonal elements of covariance matrix of initial noise. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a55ad536efe1907a540940731c553143a">initial_noise_covariance_</a> = initial_noise_covariance;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a55ad536efe1907a540940731c553143a"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a55ad536efe1907a540940731c553143a">pcl::tracking::ParticleFilterTracker::initial_noise_covariance_</a></div><div class="ttdeci">std::vector&lt; double &gt; initial_noise_covariance_</div><div class="ttdoc">The diagonal elements of covariance matrix of the initial noise. the covariance matrix is used when i...</div><div class="ttdef"><b>Definition:</b> particle_filter.h:443</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="ad924b9f7dd0b261ed03c7770cbd9a3cd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad924b9f7dd0b261ed03c7770cbd9a3cd">&#9670;&nbsp;</a></span>setInitialNoiseMean()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setInitialNoiseMean </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>initial_noise_mean</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the mean of the initial noise. It will be used when initializing the particles. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">initial_noise_mean</td><td>the mean values of initial noise. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a9a894616f39a231ae134d5c8e2130c5c">initial_noise_mean_</a> = initial_noise_mean;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a9a894616f39a231ae134d5c8e2130c5c"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a9a894616f39a231ae134d5c8e2130c5c">pcl::tracking::ParticleFilterTracker::initial_noise_mean_</a></div><div class="ttdeci">std::vector&lt; double &gt; initial_noise_mean_</div><div class="ttdoc">The mean values of initial noise.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:446</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="aa2c5f8286b5a3a94e2515bd4484ef855"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa2c5f8286b5a3a94e2515bd4484ef855">&#9670;&nbsp;</a></span>setIntervalOfChangeDetection()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setIntervalOfChangeDetection </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>change_detector_interval</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the number of interval frames to run change detection. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">change_detector_interval</td><td>the number of interval frames. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abf7b67906ea653c76f098e9b48fc36cd">change_detector_interval_</a> = change_detector_interval;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_abf7b67906ea653c76f098e9b48fc36cd"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abf7b67906ea653c76f098e9b48fc36cd">pcl::tracking::ParticleFilterTracker::change_detector_interval_</a></div><div class="ttdeci">unsigned int change_detector_interval_</div><div class="ttdoc">The number of interval frame to run change detection. defaults to 10.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:495</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="aa4c0c88e6eca516339a7bb01a2e10855"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa4c0c88e6eca516339a7bb01a2e10855">&#9670;&nbsp;</a></span>setIterationNum()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setIterationNum </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>iteration_num</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the number of iteration. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">iteration_num</td><td>the number of iteration. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1aba95f8a1e5781e13c445adc1fdc603">iteration_num_</a> = iteration_num; }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a1aba95f8a1e5781e13c445adc1fdc603"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1aba95f8a1e5781e13c445adc1fdc603">pcl::tracking::ParticleFilterTracker::iteration_num_</a></div><div class="ttdeci">int iteration_num_</div><div class="ttdoc">The number of iteration of particlefilter.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:415</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a58ba4599231097e4373589873d62e01e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a58ba4599231097e4373589873d62e01e">&#9670;&nbsp;</a></span>setMinIndices()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setMinIndices </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>min_indices</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the minimum number of indices (default: 1). <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html" title="ParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured P...">ParticleFilterTracker</a> does not take into account the hypothesis whose the number of points is smaller than the minimum indices. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">min_indices</td><td>the minimum number of indices. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa964174e2cde6a040d259c1a41b49b1e">min_indices_</a> = min_indices; }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_aa964174e2cde6a040d259c1a41b49b1e"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa964174e2cde6a040d259c1a41b49b1e">pcl::tracking::ParticleFilterTracker::min_indices_</a></div><div class="ttdeci">int min_indices_</div><div class="ttdoc">The minimum number of points which the hypothesis should have.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:421</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a4247ac126f4abd1ae4592d9c97104588"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4247ac126f4abd1ae4592d9c97104588">&#9670;&nbsp;</a></span>setMinPointsOfChangeDetection()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setMinPointsOfChangeDetection </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>change_detector_filter</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the minimum amount of points required within leaf node to become serialized in change detection </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">change_detector_filter</td><td>the minimum amount of points required within leaf node </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        {</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5cdb66e2ad728b386f93b6e73755beaf">change_detector_filter_</a> = change_detector_filter;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a5cdb66e2ad728b386f93b6e73755beaf"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5cdb66e2ad728b386f93b6e73755beaf">pcl::tracking::ParticleFilterTracker::change_detector_filter_</a></div><div class="ttdeci">unsigned int change_detector_filter_</div><div class="ttdoc">Minimum points in a leaf when calling change detector. defaults to 10.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:492</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="af4a20aa937a5c1cbb549eddcf5e83f08"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af4a20aa937a5c1cbb549eddcf5e83f08">&#9670;&nbsp;</a></span>setMotionRatio()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setMotionRatio </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>motion_ratio</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the motion ratio </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">motion_ratio</td><td>the ratio of hypothesis to use motion model. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1cdc70977f26bcd2446de0bff0633a90">motion_ratio_</a> = motion_ratio; }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a1cdc70977f26bcd2446de0bff0633a90"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a1cdc70977f26bcd2446de0bff0633a90">pcl::tracking::ParticleFilterTracker::motion_ratio_</a></div><div class="ttdeci">double motion_ratio_</div><div class="ttdoc">Ratio of hypothesis to use motion model.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:470</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="aa36dfffd21323208f53951e5f2404684"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa36dfffd21323208f53951e5f2404684">&#9670;&nbsp;</a></span>setOcclusionAngleThe()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setOcclusionAngleThe </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>occlusion_angle_thr</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the threshold of angle to be considered occlusion (default: pi/2). <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html" title="ParticleFilterTracker tracks the PointCloud which is given by setReferenceCloud within the measured P...">ParticleFilterTracker</a> does not take the occluded points into account according to the angle between the normal and the position. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">occlusion_angle_thr</td><td>threshold of angle to be considered occlusion. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af7ebd48f7499e9528b514d4a302b6d27">occlusion_angle_thr_</a> = occlusion_angle_thr;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a5dfccd2f976ecc538f5b5d1f0cb5e03c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5dfccd2f976ecc538f5b5d1f0cb5e03c">&#9670;&nbsp;</a></span>setParticleNum()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setParticleNum </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>particle_num</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the number of the particles. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">particle_num</td><td>the number of the particles. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad44d8b9caef589f337a57b2c2ef9929e">particle_num_</a> = particle_num; }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ad44d8b9caef589f337a57b2c2ef9929e"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad44d8b9caef589f337a57b2c2ef9929e">pcl::tracking::ParticleFilterTracker::particle_num_</a></div><div class="ttdeci">int particle_num_</div><div class="ttdoc">The number of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:418</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="aa2de143b5626fb5f59084787ddc9da0c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa2de143b5626fb5f59084787ddc9da0c">&#9670;&nbsp;</a></span>setReferenceCloud()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setReferenceCloud </td>
          <td>(</td>
          <td class="paramtype">const PointCloudInConstPtr &amp;&#160;</td>
          <td class="paramname"><em>ref</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set a pointer to a reference dataset to be tracked. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ref</td><td>a pointer to a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a409c2293448b36cf135dc8177cab8f29">ref_</a> = ref; }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a0467f76d2da15f76e31a410cfbfc5e91"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0467f76d2da15f76e31a410cfbfc5e91">&#9670;&nbsp;</a></span>setResampleLikelihoodThr()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setResampleLikelihoodThr </td>
          <td>(</td>
          <td class="paramtype">const double&#160;</td>
          <td class="paramname"><em>resample_likelihood_thr</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the threshold to re-initialize the particles. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">resample_likelihood_thr</td><td>threshold to re-initialize. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        {</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad40b58e84468bb1c506b438159cfc851">resample_likelihood_thr_</a> = resample_likelihood_thr;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ad40b58e84468bb1c506b438159cfc851"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ad40b58e84468bb1c506b438159cfc851">pcl::tracking::ParticleFilterTracker::resample_likelihood_thr_</a></div><div class="ttdeci">double resample_likelihood_thr_</div><div class="ttdoc">The threshold for the particles to be re-initialized.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:449</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a77e74db175dd2a36b6156b1905dc0749"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a77e74db175dd2a36b6156b1905dc0749">&#9670;&nbsp;</a></span>setResolutionOfChangeDetection()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setResolutionOfChangeDetection </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>resolution</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the resolution of change detection. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">resolution</td><td>resolution of change detection octree </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a72ab6b313e05cf2fad8d9a7753ab1bde">change_detector_resolution_</a> = resolution; }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a72ab6b313e05cf2fad8d9a7753ab1bde"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a72ab6b313e05cf2fad8d9a7753ab1bde">pcl::tracking::ParticleFilterTracker::change_detector_resolution_</a></div><div class="ttdeci">double change_detector_resolution_</div><div class="ttdoc">Resolution of change detector. defaults to 0.01.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:498</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a4cae829ec11e98fecceca689ab604919"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4cae829ec11e98fecceca689ab604919">&#9670;&nbsp;</a></span>setStepNoiseCovariance()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setStepNoiseCovariance </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>step_noise_covariance</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the covariance of step noise. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">step_noise_covariance</td><td>the diagonal elements of covariance matrix of step noise. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a757a9ebe6a716af29dcd8efad052730d">step_noise_covariance_</a> = step_noise_covariance;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_a757a9ebe6a716af29dcd8efad052730d"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a757a9ebe6a716af29dcd8efad052730d">pcl::tracking::ParticleFilterTracker::step_noise_covariance_</a></div><div class="ttdeci">std::vector&lt; double &gt; step_noise_covariance_</div><div class="ttdoc">The diagonal elements of covariance matrix of the step noise. the covariance matrix is used at every ...</div><div class="ttdef"><b>Definition:</b> particle_filter.h:438</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="afe60b5beb228c7f1b5830c8d89e01566"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afe60b5beb228c7f1b5830c8d89e01566">&#9670;&nbsp;</a></span>setTrans()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setTrans </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Affine3f &amp;&#160;</td>
          <td class="paramname"><em>trans</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the transformation from the world coordinates to the frame of the particles. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">trans</td><td>Affine transformation from the worldcoordinates to the frame of the particles. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af76e21216bd17d671bf54d5638b21bee">trans_</a> = trans; }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_af76e21216bd17d671bf54d5638b21bee"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#af76e21216bd17d671bf54d5638b21bee">pcl::tracking::ParticleFilterTracker::trans_</a></div><div class="ttdeci">Eigen::Affine3f trans_</div><div class="ttdoc">An affine transformation from the world coordinates frame to the origin of the particles.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:461</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a2d45b7b6678ece3d60434735869b2537"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2d45b7b6678ece3d60434735869b2537">&#9670;&nbsp;</a></span>setUseChangeDetector()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setUseChangeDetector </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_change_detector</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the value of use_change_detector_. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">use_change_detector</td><td>the value of use_change_detector_. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae989bacbb8a5e8329a4786f691119b82">use_change_detector_</a> = use_change_detector; }</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_ae989bacbb8a5e8329a4786f691119b82"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#ae989bacbb8a5e8329a4786f691119b82">pcl::tracking::ParticleFilterTracker::use_change_detector_</a></div><div class="ttdeci">bool use_change_detector_</div><div class="ttdoc">The flag which will be true if using change detection.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:501</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a8621428eed66d16e2283eecdede16ec9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8621428eed66d16e2283eecdede16ec9">&#9670;&nbsp;</a></span>setUseNormal()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::setUseNormal </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>use_normal</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the value of use_normal_. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">use_normal</td><td>the value of use_normal_. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;{ <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#aa9ba7d5f9e0d47cb22eed039e7f0e2d7">use_normal_</a> = use_normal; }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a401abe3b0fd3b25b508820e3d17cd47d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a401abe3b0fd3b25b508820e3d17cd47d">&#9670;&nbsp;</a></span>testChangeDetection()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::testChangeDetection </td>
          <td>(</td>
          <td class="paramtype">const PointCloudInConstPtr &amp;&#160;</td>
          <td class="paramname"><em>input</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Run change detection and return true if there is a change. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">input</td><td>a pointer to the input pointcloud. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;{</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abaffda09f3641a87d297ba392ebb25df">change_detector_</a>-&gt;setInputCloud (input);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abaffda09f3641a87d297ba392ebb25df">change_detector_</a>-&gt;addPointsFromInputCloud ();</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  std::vector&lt;int&gt; newPointIdxVector;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abaffda09f3641a87d297ba392ebb25df">change_detector_</a>-&gt;getPointIndicesFromNewVoxels (newPointIdxVector, <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#a5cdb66e2ad728b386f93b6e73755beaf">change_detector_filter_</a>);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <a class="code" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abaffda09f3641a87d297ba392ebb25df">change_detector_</a>-&gt;switchBuffers ();</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keywordflow">return</span> newPointIdxVector.size () &gt; 0;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_tracker_html_abaffda09f3641a87d297ba392ebb25df"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_tracker.html#abaffda09f3641a87d297ba392ebb25df">pcl::tracking::ParticleFilterTracker::change_detector_</a></div><div class="ttdeci">boost::shared_ptr&lt; pcl::octree::OctreePointCloudChangeDetector&lt; PointInT &gt; &gt; change_detector_</div><div class="ttdoc">Change detector used as a trigger to track.</div><div class="ttdef"><b>Definition:</b> particle_filter.h:483</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a5882a7652169ac27e88d56f0275ecd99"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5882a7652169ac27e88d56f0275ecd99">&#9670;&nbsp;</a></span>toEigenMatrix()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename StateT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">Eigen::Affine3f <a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">pcl::tracking::ParticleFilterTracker</a>&lt; PointInT, StateT &gt;::toEigenMatrix </td>
          <td>(</td>
          <td class="paramtype">const StateT &amp;&#160;</td>
          <td class="paramname"><em>particle</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Convert a state to affine transformation from the world coordinates frame. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">particle</td><td>an instance of StateT. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        {</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          <span class="keywordflow">return</span> particle.toEigenMatrix ();</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>tracking/include/pcl/tracking/<a class="el" href="tracking_2include_2pcl_2tracking_2particle__filter_8h_source.html">particle_filter.h</a></li>
<li>tracking/include/pcl/tracking/impl/<a class="el" href="particle__filter_8hpp_source.html">particle_filter.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><b>tracking</b></li><li class="navelem"><a class="el" href="classpcl_1_1tracking_1_1_particle_filter_tracker.html">ParticleFilterTracker</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
